# Objective
Several of our APIs (namely gizmos and bounding) use isometries on
current Bevy main. This is nicer than separate properties in a lot of
cases, but users have still expressed usability concerns.
One problem is that in a lot of cases, you only care about e.g.
translation, so you end up with this:
```rust
gizmos.cross_2d(
Isometry2d::from_translation(Vec2::new(-160.0, 120.0)),
12.0,
FUCHSIA,
);
```
The isometry adds quite a lot of length and verbosity, and isn't really
that relevant since only the translation is important here.
It would be nice if you could use the translation directly, and only
supply an isometry if both translation and rotation are needed. This
would make the following possible:
```rust
gizmos.cross_2d(Vec2::new(-160.0, 120.0), 12.0, FUCHSIA);
```
removing a lot of verbosity.
## Solution
Implement `From<Vec2>` and `From<Rot2>` for `Isometry2d`, and
`From<Vec3>`, `From<Vec3A>`, and `From<Quat>` for `Isometry3d`. These
are lossless conversions that fit the semantics of `From`.
This makes the proposed API possible! The methods must now simply take
an `impl Into<IsometryNd>`, and this works:
```rust
gizmos.cross_2d(Vec2::new(-160.0, 120.0), 12.0, FUCHSIA);
```
# Objective
- Fixes#6370
- Closes#6581
## Solution
- Added the following lints to the workspace:
- `std_instead_of_core`
- `std_instead_of_alloc`
- `alloc_instead_of_core`
- Used `cargo +nightly fmt` with [item level use
formatting](https://rust-lang.github.io/rustfmt/?version=v1.6.0&search=#Item%5C%3A)
to split all `use` statements into single items.
- Used `cargo clippy --workspace --all-targets --all-features --fix
--allow-dirty` to _attempt_ to resolve the new linting issues, and
intervened where the lint was unable to resolve the issue automatically
(usually due to needing an `extern crate alloc;` statement in a crate
root).
- Manually removed certain uses of `std` where negative feature gating
prevented `--all-features` from finding the offending uses.
- Used `cargo +nightly fmt` with [crate level use
formatting](https://rust-lang.github.io/rustfmt/?version=v1.6.0&search=#Crate%5C%3A)
to re-merge all `use` statements matching Bevy's previous styling.
- Manually fixed cases where the `fmt` tool could not re-merge `use`
statements due to conditional compilation attributes.
## Testing
- Ran CI locally
## Migration Guide
The MSRV is now 1.81. Please update to this version or higher.
## Notes
- This is a _massive_ change to try and push through, which is why I've
outlined the semi-automatic steps I used to create this PR, in case this
fails and someone else tries again in the future.
- Making this change has no impact on user code, but does mean Bevy
contributors will be warned to use `core` and `alloc` instead of `std`
where possible.
- This lint is a critical first step towards investigating `no_std`
options for Bevy.
---------
Co-authored-by: François Mockers <francois.mockers@vleue.com>
# Objective
Fixes#14308.
#14269 added the `Isometry2d` and `Isometry3d` types, but they don't
have usage examples or much documentation on what the types actually
represent or what they may be useful for.
In addition, their module is public and the types are not re-exported at
the crate root, unlike all the other core math types like Glam's types,
direction types, and `Rot2`.
## Solution
Improve the documentation of `Isometry2d` and `Isometry3d`, explaining
what they represent and can be useful for, along with doc examples on
common high-level usage. I also made the way the types are exported
consistent with other core math types.
This does add some duplication, but I personally think having good docs
for this is valuable, and people are also less likely to look at the
module-level docs than type-level docs.
# Objective
The isometry types added in #14269 support transforming other isometries
and points, as well as computing the inverse of an isometry using
`inverse`.
However, transformations like `iso1.inverse() * iso2` and `iso.inverse()
* point` can be optimized for single-shot cases using custom methods
that avoid an extra rotation operation.
## Solution
Add `inverse_mul` and `inverse_transform_point` for `Isometry2d` and
`Isometry3d`. Note that these methods are only faster when the isometry
can't be reused for multiple transformations.
## Testing
All of the methods have a test, similarly to the existing transformation
operations.
# Objective
Creating isometry types with just a translation is a bit more verbose
than it needs to be for cases where you don't have an existing vector to
pass in.
```rust
let iso = Isometry3d::from_translation(Vec3::new(2.0, 1.0, -1.0));
```
This could be made more ergonomic with a method similar to
`Dir2::from_xy`, `Dir3::from_xyz`, and `Transform::from_xyz`:
```rust
let iso = Isometry3d::from_xyz(2.0, 1.0, -1.0);
```
## Solution
Add `Isometry2d::from_xy` and `Isometry3d::from_xyz`.
# Objective
Introduce isometry types for describing relative and absolute position
in mathematical contexts.
## Solution
For the time being, this is a very minimal implementation. This
implements the following faculties for two- and three-dimensional
isometry types:
- Identity transformations
- Creation from translations and/or rotations
- Inverses
- Multiplication (composition) of isometries with each other
- Application of isometries to points (as vectors)
- Conversion of isometries to affine transformations
There is obviously a lot more that could be added, so I erred on the
side of adding things that I knew would be useful, with the idea of
expanding this in the near future as needed.
(I also fixed some random doc problems in `bevy_math`.)
---
## Design
One point of interest here is the matter of if/when to use aligned
types. In the implementation of 3d isometries, I used `Vec3A` rather
than `Vec3` because it has no impact on size/alignment, but I'm still
not sure about that decision (although it is easily changed).
For 2d isometries — which are encoded by four floats — the idea of
shoving them into a single 128-bit buffer (`__m128` or whatever) sounds
kind of enticing, but it's more involved and would involve writing
unsafe code, so I didn't do that for now.
## Future work
- Expand the API to include shortcuts like `inverse_mul` and
`inverse_transform` for efficiency reasons.
- Include more convenience constructors and methods (e.g. `from_xy`,
`from_xyz`).
- Refactor `bevy_math::bounding` to use the isometry types.
- Add conversions to/from isometries for `Transform`/`GlobalTransform`
in `bevy_transform`.
